PI_GCS2_DLL：SM151E纳米平移台二次开发手册

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"PI纳米平移台手册是关于SM151E纳米平移台的二次开发指南，特别提到了Windows GCS 2.0动态链接库（PI_GCS2_DLL），版本为2.4.0，发布日期为2015年9月17日。该手册由PhysikInstrumente (PI) GmbH & Co. KG出版，包含了PI公司拥有的各种品牌和商标，如PI®, PIC®, PICMA®, Picoactuator®, PIFOC®, PILine®, PInano®, PiezoWalk®, NEXACT®, NEXLINE®, NanoCube®, 和 NanoAutomation®等。此外，手册也提及了第三方的商标，如Microsoft和Windows。手册中的文本、照片和图纸受到版权保护，使用时需要标明来源。最新的版本可以在PI的官方网站上找到。" 在本手册中，用户可以了解到如何对PI的SM151E纳米平移台进行二次开发，这涉及到Windows GCS 2.0软件开发工具包的使用。GCS（Generic Control System）是PI提供的一种通用控制系统，用于精确操控其精密定位设备，如纳米平移台。DLL（Dynamic Link Library）是Windows操作系统中的一个组件，允许程序员使用已编译好的函数库来实现特定功能。 PI_GCS2_DLL是PI控制系统的核心部分，它提供了与硬件设备通信的接口，使开发者能够通过编程控制平移台的运动。该DLL可能包含一系列的函数调用，如初始化设备、设置运动参数、执行精确移动、读取位置反馈等。对于二次开发者来说，理解这些函数的用法和参数是至关重要的。手册可能涵盖了以下内容： 1. **安装与配置**：指导用户如何正确安装和配置GCS2.0 DLL，包括必要的驱动程序和开发环境。 2. **API函数**：详细列出每个可用的API函数，解释其功能、参数和返回值，以及如何在代码中调用它们。 3. **示例代码**：提供实例代码片段，展示如何使用DLL进行基本操作，如设备连接、运动控制和数据读取。 4. **错误处理**：说明如何识别和处理在使用DLL过程中可能出现的错误。 5. **性能优化**：可能包含关于提高控制精度和速度的建议，以及如何减少延迟的技巧。 6. **安全操作**：介绍安全准则，确保设备在运行时不会受到损害。通过这个手册，开发者不仅可以掌握如何利用PI_GCS2_DLL来控制SM151E纳米平移台，还能学习到精密定位系统的控制理论和实践应用。这对于在科研、制造业或者高精度测量领域使用此类设备的工程师和技术人员来说是非常宝贵的资源。

PI GCS 2.0 DLL Software Manual SM151E

Release 2.4.0 www.pi.ws Page 16

BOOL PI_TranslateError (int iErrorNumberr, char* szErrorMesage, int iBufferSize)

Translate error number to error message.

Arguments:

iErorrNumber number of error, as returned from PI_GetError().

szErrorMessage pointer to buffer that will store the message

iBufferSize size of the buffer

Returns:

TRUE if successful, FALSE, if the buffer was too small to store the message

Int PI_TryConnectRS232 (int port, int baudrate)

Starts background thread which tries to establish connection to controller with given RS-232 settings.

Arguments:

port COM port to use (e.g. 1 for "COM1")

baudrate to use

Returns:

ID of new thread (>=0), error code (<0) if there was an error

Int PI_TryConnectUSB (const char* szDescription)

Starts background thread which tries to establish connection to controller with given USB settings.

Arguments:

szDescription the description of the controller returned by PI_EnumerateUSB

Returns:

ID of new thread (>=0), error code (<0) if there was an error

4.3. Interface Settings

With PI_InterfaceSetupDlg(), p. 14, the Connect dialog is called. This dialog offers interface tab

cards where you can configure and establish the connection (see descriptions below). Note that not

all of the interfaces shown via the tab cards may be present on your controller.

RS-232

•

COM Port: Select the desired COM port of the PC, something like "COM1" or

"COM2”. Only the ports available on the system are displayed.

•

Baud Rate: The baud rate of the interface. The baud rate chosen will be set on

both the host PC and the controller side of the interface.

USB

• Use the "Rescan" button to obtain all controllers available v

ia USB. In the

resulting list, click on the controller to which you want to connect. Use the “Serial

Settings” button to specify the baudrate set with the DIP switches

on the

controller.

IEEE 488

• Board I

D: ID of the National Instruments board installed (currently only National

Instruments IEEE boards are supported). If only one board is installed this will be

0, as in the most cases. Use the National Instruments setup and test software to

determine the board ID.

PI GCS 2.0 DLL Software Manual SM151E

Release 2.4.0 www.pi.ws Page 17

•

Device Address: The address of the connected device. Please read the

documentation of the connected device to determine its address setting and, if

necessary, how to change it. The settings here and at the device must match.

TCP/IP

• Use the "Searc

h for controllers" button to obtain all available controllers with their

IP address and port settings. In the resulting list, click on the controller to which

you want to connect and check that its IP address and port number are correctly

transferred to the Hostname / TCP/IP Address and Port fields above the list.

•

In the list, you can also identify the controllers which have already a TCP/IP

connection open. If you try to connect to such a controller, an error message will

arise, and no connection is possible.

5. Functions for Sending and Reading Strings

With PI library functions for GCS query commands the controller automatically continues processing

subsequent functions only after the controller has retrieved the complete response from the input

buffer.

This is valid for all query functions except if a query is sent as a string using PI_Gcs_Commandset().

PI library functions for GCS commands are described in “Basic Functions for GCS Commands”

(p. 19) and “Functions for GCS Commands for Wave Generator and DDL” (p. 99).

Example for a query function not using a string:

PI_qMOV (ID,“1”,pdValue)

CAUTION

If a query command is sent as string using PI_Gcs_Commandset() it is necessary to make sure

that the size of the response string matches the size of the input buffer.

Otherwise it may happen that a response has not yet been retrieved completely before a next

function is processed.

Therefore, if a query command is sent as string, it is necessary to query the size of the response

string in the input buffer by sending PI_GcsGetAnswerSize() and to retrieve the response from input

buffer by sending PI_GcsGetAnswer().

The response to PI_GcsGetAnswerSize() determines the size (i.e, iBufferSize) that the input buffer

(i.e., szAxes) must have to obtain the complete response to the query.

In some cases it can be necessary to query PI_GetAnswerSize() again after that, for it may take

some time until the controller has delivered the complete response string. Then, it is recommended

to keep querying PI_GetAnswerSize() until 0 is returned.

Example for a query command sent as a string:

PI_GcsCommandset (ID, “MOV? 1”)

PI_GcsGetAnswerSize()

PI_GcsGetAnswer()

PI GCS 2.0 DLL Software Manual SM151E

Release 2.4.0 www.pi.ws Page 19

6. Basic Functions for GCS Commands

The functions listed in this chapter are based on the commands of the GCS. You can use a function

only if the corresponding command is supported by your controller. See the user manual of the

controller for the supported commands.

For all details regarding the functionality and arguments of commands, see the command

descriptions in the user manual of the controller.

NOTE

If a query command is sent as string using PI_Gcs_Commandset() it is necessary to make sure

that the size of the response string matches the size of the input buffer.

Otherwise it may happen that a response has not yet been retrieved completely before a next

function is processed.

See “Functions for Sending and Reading Strings” (p. 17) for details.

6.1. Overview

Function

Short Description

Page

BOOL PI_AAP (int ID, const char* szAxis1, double

dLength1, const char* szAxis2, double dLength2,

double dAlignStep, int iNrRepeatedPositions, int

iAnalogInput)

Automated Alignment Part

BOOL PI_ACC (int ID, const char* szAxes, double*

pdValueArray)

Set Closed-Loop Acceleration

BOOL PI_ADD (int ID, const char* szVariable,

double value1, double value2)

Add two values and save the result to a

variable

BOOL PI_AOS (int ID, const char* szAxes, const

double* pdValueArray)

Set an offset to the analog input for the given

axis

BOOL PI_ATC (int ID, const int* piChannels, const

int* piValueArray, int iArraySize)

Automatic calibration

BOOL PI_ATZ (int ID, const char* szAxes, const

double* pdLowVoltageArray, const BOOL*

pbUseDefaultArray )

Automatic zero-point calibration

BOOL PI_BRA (const int ID, char *const szAxes,

BOOL * pbValarray)

Set brake on/off

BOOL PI_CCL (int ID, int iCommandLevel, const

char* szPassWord )

Set command level of the controller

BOOL PI_CMO (int ID, const char* szAxes, const

int* piValueArray)

Select closed-loop control mode

BOOL PI_CPY (int ID, const char* szVariable, const

char* szCommand)

Copy a command response into a variable

BOOL PI_CST (int ID, const char* szAxes, const

char* szNames)

Loads stage parameter values from a stage

database

BOOL PI_CTI (int ID, const int* piTriggerInputIds,

const int* piTriggerParameterArray, const char*

szValueArray, int iArraySize)

Configures the trigger input conditions

BOOL PI_CTO (int ID, const int* piTriggerOutputIds,

const int* piTriggerParameterArray, const double*

pdValueArray, int iArraySize)

Configures the trigger output conditions

PI GCS 2.0 DLL Software Manual SM151E

Release 2.4.0 www.pi.ws Page 20

Function

Short Description

Page

BOOL PI_CTOString (int ID, const int*

piTriggerOutputIds, const int*

piTriggerParameterArray, const char* szValueArray,

int iArraySize)

Configures the trigger output conditions

BOOL PI_CTR (int ID, const char* szAxes, const

double* pdValueArray)

Set target relative to current closed-loop target

BOOL PI_CTV (int ID, const char* szAxes, const

double* pdValueArray)

Set absolute closed-loop target

BOOL PI_DCO (int ID, const char* szAxes, const

BOOL* pbValueArray)

Sets drift compensation mode for given axes

BOOL PI_DEC (int ID, const char* szAxes, double*

pdValueArray)

Set Closed-Loop Deceleration

BOOL PI_DEL (int ID, int iMilliSeconds)

Delay The Command Interpreter

BOOL PI_DFH (int ID, const char* szAxes)

Defines the current position as the axis home

position

BOOL PI_DIO (int ID, const int* piChannelsArray,

const BOOL* pbValueArray, int iArraySize)

Set Digital Output Lines

BOOL PI_DPA (int ID, const char* szPassword,

const char* szAxes, const unsigned int*

iParameterArray)

Resets parameters or settings to default

values

BOOL PI_DRC (int ID, const int*

piRecordTableIdsArray, const char*

szRecordSource, const int* piRecordOptionsArray)

Set Data Recorder Configuration

BOOL PI_DRT (int ID, const int*

piRecordTableIdsArray, const int*

piTriggerSourceArray, const char* szValues, int

iArraySize)

Set Data Recorder Trigger Source

BOOL PI_EAX (int ID, const char* szAxes, const

BOOL* pbValueArray)

Enable Axis

BOOL PI_FED (int ID, const char* szAxes, const int*

piEdgeArray, const int* piParamArray)

Find Edge

BOOL PI_FIO (int ID, const char* szAxis1, double

dLength1, const char* szAxis2, double dLength2,

double dThreshold, double dLinearStep, double

dAngleScan, int iAnalogInput)

Fast Input-Output Alignment Procedure

BOOL PI_FLM (int ID, const char* szAxis, double

dLength, double dThreshold, int iAnalogInput, int

iDirection)

Fast Line Scan to Maximum

BOOL PI_FLS (int ID, const char* szAxis, double

dLength, double dThreshold, int iAnalogInput, int

iDirection)

Fast Line Scan

BOOL PI_FNL (int ID, const char* szAxes)

Fast Move To Negative Limit

BOOL PI_FPH (int ID, const char* szAxes)

Starts Phase Finding Process

BOOL PI_FPL (int ID, const char* szAxes)

Fast Move To Positive Limit

BOOL PI_FRF (int ID, const char* szAxes)

Fast Move To Reference Switch

BOOL PI_FSA (int ID, const char* szAxis1, double

dLength1, const char* szAxis2, double dLength2,

double dThreshold, double dDistance, double

dAlignStep, int iAnalogInput)

Fast Scan with Automated Alignment

BOOL PI_FSC (int ID, const char* szAxis1, double

dLength1, const char* szAxis2, double dLength2,

double dThreshold, double dDistance, int

iAnalogInput)

Fast Scan with Abort

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